Robot apparatus

ABSTRACT

A robot apparatus including a mechanical system having at least one mechanical portion arranged to be operated by a drive portion; a mechanical-system-command converter arranged to receive a command which is independent from a mechanical system and which does not depend on the mechanical system to convert the command independent from the mechanical system into a command depending on the mechanical system and adaptable to the mechanical system; and a control portion for controlling the operation of the drive portion in accordance with the command depending on the mechanical system supplied from the mechanical-system-command converter.

BACKGROUND OF THE INVENTION

[0001] 1. Field of the Invention

[0002] The present invention relates to a robot apparatus of variousforms having mechanical systems of different types arranged to use acommand, which is independent from a mechanical system and which doesnot depend on the mechanical system, and enabled to be controlled by acommon control system and to a control method therefor.

[0003] 2. Description of Prior Art

[0004] Hitherto, a variety of robot apparatuses have been disclosedwhich include tired-robots capable of self-running by dint of the tires,and bipedal or quadrapedal walking robots, each of the foregoing robotapparatuses having various mechanical systems.

[0005] A robot apparatus of the foregoing type has a mechanical systemin which actuators each having a predetermined degree of freedom andsensors for each detecting a predetermined physical quantity aredisposed at predetermined positions. A control unit having amicrocomputer individually operates the various actuators in accordancewith outputs from the sensors and the control program. Thus, theself-running operation of the robot apparatus is permitted. Moreover,the robot apparatus performs a predetermined operation. Theabove-mentioned robot apparatus is assembled into a predetermined formin such a manner that various component units including a body, legs anda head maintain predetermined relative positions.

[0006] When a variety of robot apparatuses each having variousmechanical systems are controlled, each robot apparatus must becontrolled by using commands defined to correspond to the mechanicalsystems of the apparatus. It leads to a fact that a control program foreach of the various robots each having different mechanical systems mustbe prepared even if a common operation, such as moving forwards, movingbackward or stoppage, is performed.

OBJECT AND SUMMARY OF THE INVENTION

[0007] Accordingly, an object of the present invention is to provide arobot apparatus of various forms having mechanical systems of differenttypes arranged to use a command, which is independent from a mechanicalsystem and which does not depend on the mechanical system, and enabledto be controlled by a common control system and to a control methodtherefor.

[0008] According to one aspect of the present invention, there isprovided a robot apparatus including: a mechanical system having atleast one mechanical portion arranged to be operated by a drive portion;a mechanical-system-command converter arranged to receive a commandwhich is independent from a mechanical system and which does not dependon the mechanical system to convert the command independent from themechanical system into a command depending on the mechanical system andadaptable to the mechanical system; and a control portion forcontrolling the operation of the drive portion in accordance with thecommand depending on the mechanical system supplied from themechanical-system-command converter.

[0009] According to another aspect of the present invention, there isprovided a method of controlling a robot apparatus including amechanical system having at least one mechanical portion arranged to beoperated by a drive portion, the method including the steps of:converting a command which is independent from a mechanical system andwhich does not depend on the mechanical system into a command dependingon the mechanical system adapted to the mechanical system; andcontrolling the drive portion in accordance with the command dependingon the mechanical system.

[0010] Other objects, features and advantages of the invention will beevident from the following detailed description of the preferredembodiments described in conjunction with the attached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[0011]FIG. 1 is a block diagram showing the basic structure of a robotapparatus according to the present invention;

[0012]FIG. 2 is a diagram showing the structure of a CPU portion of therobot apparatus in terms of software;

[0013]FIG. 3 is a flow chart of a procedure for determining a statetransition rule for an automaton portion of the robot apparatus;

[0014]FIG. 4 is a flow chart of a procedure for a process “pause” in theprocedure for determining the state transition rule in the automatonportion;

[0015]FIG. 5 is a flow chart of a procedure for a process “interruption”in the procedure for determining the state transition rule in theautomaton portion;

[0016]FIG. 6 is a flow chart of a procedure for a process “movement” inthe procedure for determining the state transition rule in the automatonportion;

[0017]FIG. 7 is a diagram schematically showing the basic structure of amechanical system forming an exterior of a self-standing and quadrapedalwalking robot according to the resent invention;

[0018]FIG. 8 is a schematic view showing attitude “standing” of theself-standing and quadrapedal walking robot;

[0019]FIG. 9 is a schematic view showing attitude “walking” of theself-standing and quadrapedal walking robot;

[0020]FIG. 10 is a schematic view showing attitude “sleeping” of theself-standing and quadrapedal walking robot;

[0021]FIG. 11 is a schematic view showing attitude “hello” of theself-standing and quadrapedal walking robot;

[0022]FIG. 12 is a schematic view showing attitude “laughing” of theself-standing and quadrapedal walking robot;

[0023]FIG. 13 is a schematic view showing attitude “sitting” of theself-standing and quadrapedal walking robot;

[0024]FIG. 14 is a diagram showing a rule for state transition of theself-standing and quadrapedal walking robot;

[0025]FIG. 15 is a block diagram showing the basic structure of atired-robot apparatus according to the present invention;

[0026]FIG. 16 is a perspective view showing the tired-robot apparatus;and

[0027]FIG. 17 is a diagram showing an attitude transition state of thetired-robot apparatus.

DETAILED DESCRIPTION OF THE INVENTION

[0028] An embodiment of the present invention will now be described withreference to the drawings.

[0029]FIG. 1 is a block diagram showing the basic structure of a robotapparatus 100 according to the present invention

[0030] The robot apparatus 100 includes a CPU (Central Processing Unit)portion 101, a control portion 102, a drive portion 103, an exterior 104and a sensor portion 105.

[0031] The CPU portion 101 is composed of a CPU (Central ProcessingUnit) and peripheral circuit elements including memories. The CPUportion 101 converts a command which is independent from a mechanicalsystem and which does not depend on the mechanical system into a commanddepending on the mechanical system so as to supply a control command tothe control portion 102. A plurality of the control portions 102 anddrive portions 103 form pairs so that one control portion 102 controlsone drive portion 103. The control portion 102 receives a value detectedby the sensor portion 105 arranged to detect a predetermined physicalquantity, such as the position of the mechanical system forming theexterior 104 of the robot apparatus 100 so as to control the driveportion 103. The drive portion 103 drives the mechanical system whichforms the exterior 104. The sensor portion 105 causes the robotapparatus 100 to perform an autonomous operation, the sensor portion 105having a potentiometer for detecting the position of the mechanicalsystem.

[0032] The structure of the CPU portion 101 of the robot apparatus 100in terms of software will now be described with reference to FIG. 2.

[0033] The software processing portion of the CPU portion 101 iscomposed of a sensor processing portion 111, an automaton portion 112and a mechanical-system-command converter 113.

[0034] The sensor processing portion 111 includes, as input devices, atimer, an obstacle sensor and a sound sensor. The timer measures time inunits of milliseconds. If certain time is set to the timer, the timer isturned off. If the set time has elapsed, the timer is turned on. Tosimplify the description, the obstacle sensor includes a front obstaclesensor, right obstacle sensor and a left obstacle sensor disposed in thefront portion of the apparatus, on the left side of the same and on theright side of the same, respectively. When the obstacle sensor isbrought into contact with an obstacle, the obstacle sensor is turned on.The sound sensor receives sound through a microphone to detect the soundlevel. If the sound level exceeds a predetermined level, the soundsensor is turned on.

[0035] A procedure for determining a state transition rule for theautomaton portion 112 is arranged to follow a flow chart shown in FIGS.3 to 6. The automaton portion 112 performs state transition andtransmits, to a mechanical-system-command converter 113 which is a nextsoftware module, a command independent from the mechanical system asdescribed above when a certain state is shifted to another state. Datatransmitted from the automaton portion 112 is composed of data expressedby a character string and a parameter attached to a command as anoption.

[0036] The command independent from the mechanical system according tothis embodiment has the following types of commands:

[0037] (1) standing

[0038] (2) move (parameter angle [deg])

[0039] (3) sleeping

[0040] (4) hello

[0041] (5) laughing

[0042] In accordance with the flow chart shown in FIG. 3, the automatonportion 112 initially performs initialization in step Sl after theprocess has been started. Thus, state “pause” is realized, and then theoperation proceeds to step S2 so that the present state is determined.In accordance with a result of the determination performed in step S2,step SA or SB or SC in the present state and step S2 are repeated sothat the state is shifted. As a result, step SA “pause”, step SB“interruption” and step SC “shift” are performed.

[0043] In step SA “pause”, step SA1 is performed so that a determinationis made whether the sound sensor has been turned on or off, as shown inFIG. 4. If the sound sensor is turned off, step SA2 is performed todetermine whether the front obstacle sensor is turned on or off. If thefront obstacle sensor is turned off, step SA3 is performed to determinewhether the left obstacle sensor is turned on or off. If the leftobstacle sensor is turned off, step SA4 is performed to determinewhether the right obstacle sensor is turned on or off. If the rightobstacle sensor is turned off, step SA5 is performed to determinewhether the timer is turned on or off. If the timer is turned off, stepSA6 is performed so that a Next state is set to be “pause”. Then, thestate is shifted to a next state.

[0044] In the step SA “pause”, step SA11 is performed if the soundsensor is turned on in step SA1 so that command “standing” which is acommand independent from the mechanical system is output and the nextstate is set to be “interruption”. Then, step SA12 is performed so thatthe timer is set, and then the state is shifted to a next state. If thefront obstacle sensor is turned on in step SA2, step SA21 is performedso that command “standing” which is a command independent from themechanical system is output and the next state is set to be“interruption”. Moreover, step SA22 for setting the timer is performed.Then, the state is shifted to a next state. If the left obstacle sensoris turned on in step SA3, step SA31 for outputting command “standing”which is a command independent from the mechanical system and settingthe next state to be “interruption” is performed. Moreover, step SA32for setting the timer is performed, and then the state is shifted to anext state. If the right obstacle sensor is turned on in step SA4, stepSA41 is performed so that command “standing” which is a commandindependent from the mechanical system is output and the next state isset to be “interruption”. Moreover, step SA42 for setting the timer isperformed. Then, the state is shifted to a next state. If the timer isturned on in step SA5, step SA51 is performed so that command “standing”which is a command independent from the mechanical system is output andthe next state is set to be “interruption”. Then, step SA52 is performedso that the timer is set. Then, the state is shifted to a next state.

[0045] In step SB “interruption”, step SB1 is performed so that whetherthe sound sensor is turned on or off is determined, as shown in FIG. 5.If the sound sensor is turned off, step SB2 is performed so that whetherthe front obstacle sensor is turned on or off is determined. If thefront obstacle sensor is turned off, step SB3 is performed so thatwhether the left obstacle sensor is turned on or off is performed. Ifthe left obstacle sensor is turned off, step SB4 is performed so thatwhether the right obstacle sensor is turned on or off is determined. Ifthe right obstacle sensor is turned off, step SB5 is performed so thatwhether the timer is turned on or off is determined. If the timer isturned off, step SB6 is performed so that the next state is set to be“interruption”. Then, the state is shifted to a next state.

[0046] In step SB “interruption, step SB11 is performed if the soundsensor is turned on in step SB1 so that command “move (parameter angle[0 deg]” which is a command independent from the mechanical system isoutput and the next state is set to be “movement”. Moreover, step SB12for setting the timer is performed, and then the state is shifted to anext state. If the front obstacle sensor is turned on in step SB2, stepSB21 is performed so that command “hello” which is a command independentfrom the mechanical system is output and the next state is set to be“interruption”. Then, step SB22 for setting the timer is performed, andthen the state is shifted to a next state. If the left obstacle sensoris turned on in step SB3, Step SB31 is performed so that command“laughing” which is a command independent from the mechanical system isoutput and the next state is set to be “interruption”. Moreover, stepSB32 for setting the timer is performed, and then the state is shiftedto a next state. If the right obstacle sensor is turned on in step SB4,step SB41 is performed so that the next state is set to be“interruption”. Moreover, step SB42 for setting the timer is performed,and then the state is shifted to a next state. If the timer is turned onin step SB5, step SB51 is performed so that command “sleeping” which isa command independent from the mechanical system is output and the nextstate is set to be “pause”. Moreover, step SB52 for setting the timer isperformed, and then the state is shifted to a next state.

[0047] In step SC “movement”, step SC1 for determining whether the soundsensor is turned on or off is performed, as shown in FIG. 6. If thesound sensor is turned off, step SC2 for determining whether the frontobstacle sensor is turned on or off is performed. If the front obstaclesensor is turned off, step SC3 is performed so that whether the leftobstacle sensor is turned on or off is determined. If the left obstaclesensor is turned off, step SC4 is performed so that whether the rightobstacle sensor is turned on or off is determined. If the right obstaclesensor is turned off, step SC5 is performed so that whether the timer isturned on or off is determined. If the timer is turned off, step SC6 forsetting the next state to be “interruption” is performed. Then, thestate is shifted to a next state.

[0048] In step SC “movement”, step SC11 is performed if the sound sensoris turned on in step SC1 so that command “hello” which is a commandindependent from the mechanical system is output and the next state isset to be “interruption”. Moreover, step SC12 for setting the timer isperformed, and then the state is shifted to a next state. If the frontobstacle sensor is turned on in step SC2, step SC21 is performed so thatcommand “move (parameter angle [180 deg]” which is a command independentfrom the mechanical system is output and the next state is shifted to be“movement”. Moreover, step SC22 for setting the timer is performed, andthen the state is shifted to a next state. If the left obstacle sensoris turned on in step SC3, step SC31 is performed so that command “move(parameter angle [90 deg]” which is a command independent from themechanical system is output and the next state is set to be “movement”.Moreover, step SC32 for setting the timer is performed, and then thestate is shifted to a next state. If the right obstacle sensor is turnedon in step SC4, step SC41 is performed so that command “move (parameterangle [−90 deg]” which is a command independent from the mechanicalsystem is output and the next state is set to be “movement”. Moreover,step SC42 for setting the timer is performed, and then the state isshifted to a next state. If the timer is turned on in step SC5, stepSC51 is performed so that command “standing” which is a commandindependent from the mechanical system is output and the next state isset to be “interruption”. Then, step SC52 for setting the timer isperformed, and then the state is shifted to a next state.

[0049] The mechanical-system-command converter 113 converts the commandindependent from the mechanical system output from the automaton portion112 into a command depending on the mechanical system which forms theexterior 104. Then, the mechanical-system-command converter 113 suppliesthe command depending on the mechanical system to the control portion102.

[0050] As described above, the structure according to this embodimenthas the mechanical-system-command converter 113 for converting thecommand independent from the mechanical system into the commanddepending on the mechanical system. When movement is commanded with acommand “move (parameter angle [deg]” which is a command independentfrom the mechanical system, the foregoing command is converted into amovement command which instructs the direction of rotation of the drivewheels of, for example, a tired-robot. Thus, the movement command can beexecuted. In a case of a quadrapedal walking robot, the foregoingcommand is converted into a movement command for moving the legs inaccordance with walking patters. Thus, the movement command can beexecuted. The command “hello” which is a command independent from themechanical system is converted into a command corresponding to anoperation for clockwise rotating three times on the spot in the case ofthe tired-robot. In the case of the quadrapedal walking robot, theforegoing command is converted into a command corresponding to, forexample, an operation that the front-right leg is raised and swunghorizontally in a state where the quadrapedal walking robot is sit down.Thus, the command “hello” which is a command independent from themechanical system can be executed by both types of the foregoing robots.As described above, the same command can be made to correspond todifferent actions among mechanical systems. That is, themechanical-system-command converter 113 enables higher-order software tobe used as a source code or a binary level. Therefore, use of softwareas part can be enhanced and software in a portion which does not dependon the mechanical system can be reused. As a result, development ofsoftware can efficiently be performed.

[0051]FIG. 7 is a schematic view showing the basic structure of amechanical system forming the exterior of a self-running robot apparatus200 according to the present invention.

[0052] The self-running robot apparatus 200 is a quadrapedal andself-running robot having a multiplicity of joints. The self-runningrobot apparatus 200 has a structure that a front-right leg 202, afront-left leg 203, a rear-right leg 204, a rear-left leg 205 and a neck206 are connected to a body 201 through joints 211, 212, 213, 214 and215.

[0053] The front-right leg 202 is connected to the body 201 through thejoint 211 corresponding to the shoulder joint. The front-right leg 202has a function of extending the legs and a function of turning to andfro when two servo motors (not shown) provided for the joint 211 toserve as actuators are rotated. The front-right leg 202 is composed ofan upper portion 202U of the front-right leg 202 and a lower portion202L of the front-right leg 202 connected to each other through a joint216 corresponding to the knee. When a servo motor (not shown) providedfor the joint 216 and serving as an actuator is rotated, the lowerportion 202L of the front-right leg 202 can be rotated to and fro.

[0054] The front-left leg 203 is connected to the body 201 through thejoint 212 corresponding to the shoulder joint. The front-left leg 203has a function of extending the leg and a function of turning to and frowhen two servo motors (not shown) provided for the joint 212 to serve asactuators are rotated. The front-left leg 203 is composed of an upperportion 203U of the front-left leg 203 and a lower portion 203L of thefront-left leg 203 connected to each other through a joint 217corresponding to the knee. When a servo motor (not shown) provided forthe joint 217 and serving as an actuator is rotated, the lower portion203L of the front-left leg 203 can be rotated to and fro.

[0055] The rear-right leg 204 is connected to the body 201 through thejoint 213 corresponding to the hip joint. The rear-right leg 204 has afunction of rotating to and fro when a servo motor serving as anactuator and provided for the joint 213 is rotated. The rear-right leg204 is composed of an upper portion 204U of the rear-right leg 204 andthe lower portion 204L of the rear-right leg 204 connected to each otherthrough a joint 218 corresponding to the knee. When a servo motor (notshown) provided for the joint 218 and serving as an actuator is rotated,the lower portion 204L of the rear-right leg 204 can be rotated to andfro.

[0056] The rear-left leg 205 is connected to the body 201 through thejoint 214 corresponding to the hip joint. When a servo motor providedfor the joint 214 and serving as an actuator is rotated, the rear-leftleg 205 is rotated to and fro. The rear-left leg 205 is composed of anupper portion 205U of the rear-left leg 205 and a lower portion 205L ofthe rear-left leg 205 connected to each other through a joint 219corresponding to the knee. When a servo motor provided for the joint 219and serving as an actuator is rotated, the lower portion 205L of therear-left leg 205 can be rotated to and fro.

[0057] The neck 206 is connected to the body 201 through the joint 215corresponding to a neck joint. When two servo motors provided for thejoint 215 and serving as actuators are rotated, the neck 206 is able torotate vertically and laterally.

[0058] The self-running robot apparatus 200 has a structure that amechanical-system-command converter provided for the CPU portion 101having the structure in terms of software shown in FIG. 2 converts acommand which is independent from the mechanical system and which doesnot depend on the mechanical system into a command depending on themechanical system. Thus, the following control commands are supplied tothe control portion 102.

[0059] That is, command “standing” which is a command independent fromthe mechanical system is converted into a control command in the form ofan attitude transition string to realize attitude “standing”. Thecontrol portion 102 follows the foregoing control command to rotate theservo motor of the drive portion 103 to perform shifting to attitude“standing” so that the self-running robot apparatus 200 stands with thefour legs which are the front-right leg 202, the front-left leg 203, therear-right leg 204 and the rear-left leg 205, as shown in FIG. 8.

[0060] Command “move (parameter angle [deg])” which is a commandindependent from the mechanical system is converted into a controlcommand in the form of an attitude transition string to realize“standing”. Specifically, if angle [deg] is a positive value withrespect to angle [deg] which is used as a parameter, a control commandin the form of an attribute transition string of a forward walkingpattern is generated. In accordance with the control command, thecontrol portion 102 rotates the servo motor of the drive portion 103 soas to perform transition to attitude “walking” so that the self-runningrobot apparatus 200 walks with the four legs which are the front-rightleg 202, the front-left leg 203, the rear-right leg 204 and therear-left leg 205, as shown in FIG. 9.

[0061] Command “sleeping” which is a command independent from themechanical system is converted into a control command in the form of anattitude transition string to realize “sleeping”. In accordance with thecontrol command, the control portion 102 rotates the servo motor of thedrive portion 103 so as to perform shifting to attitude “sleeping” sothat the self-running robot apparatus 200 lies in such a manner that thefour legs are stretched which are the front-right leg 202, thefront-left leg 203, the rear-right leg 204 and the rear-left leg 205, asshown in FIG. 10.

[0062] Command “hello” which is a command independent from themechanical system is converted into a control command in the form of anattitude transition string to realize “hello”. In accordance with thecontrol command, the control portion 102 rotates the servo motor of thedrive portion 103 so as to perform shifting to attitude “hello” so thatthe self-running robot apparatus 200 makes a bow in a sitting state, asshown in FIG. 11.

[0063] Command “laughing” which is a command independent from themechanical system is converted into a control command in the form of anattitude transition string to realize “laughing”. In accordance with thecontrol command, the control portion 102 rotates the servo motor of thedrive portion 103 so as to perform shifting to attitude “laughing” sothat the self-running robot apparatus 200 raises the front-right leg 202and the front-left leg 203 in a sitting state, as shown in FIG. 12.

[0064] The self-running robot apparatus 200 follows the control commandsupplied from the CPU portion 101 to the control portion 102, thecommand having the structure in terms of software as shown in FIG. 2.Thus, the self-running robot apparatus 200 performs attitude transitioncorresponding to the above-mentioned commands independent from themechanical system, which are “standing”, “move (parameter angle [deg])”,“sleeping”, “hello” and “laughing”. When the attitude transition isperformed, a state to which transition cannot directly be performedexists. Therefore, attitude “sitting” as shown in FIG. 13 is defined asan intermediate attitude so that transition to a required attitude isperformed through the attitude “sitting”. A state of the transition ruleis shown in FIG. 14. When transition from attitude “sleeping” toattitude “walking” is performed, an attitude transition string as“sitting”→“standing”→“walking” is, as a control command, supplied fromthe CPU portion 101 to the control portion 102. FIG. 15 is a blockdiagram showing the basic structure of a tired-robot apparatus 300according to the present invention. The tired-robot apparatus 300includes a CPU portion 301, control portions 302R and 302L, driveportions 303R and 303L and right and left wheels 304R and 304L. When theright and left wheels 304R and 304L are rotated by the drive portions303R and 303L, the tired-robot apparatus 300 is able to move or rotate.

[0065] The drive portions 303R and 303L include servo motors capable ofindependently rotating the right and left wheels 304R and 304L in theforward and rearward directions.

[0066] The control portions 302R and 302L include pulse signalgenerators to follow control commands issued from the control portions302R and 302L to control the directions of rotations and rotationalspeeds of the servo motors of the drive portions 303R and 303L by dintof the relationship of the phases of two pulses and the widths of thepulses.

[0067] The CPU portion 301 has the structure in terms of software asshown in FIG. 2. As shown in a schematic and perspective view shown inFIG. 16, the tired-robot apparatus 300 has a front caster 304F disposedin the bottom of the front portion of the body of the tired-robotapparatus 300 and right and left wheels 304R and 304L so that theself-standing state of the tired-robot apparatus 300 is maintained. TheCPU portion 301 has the input devices for the sensor processing portion111, the input devices being a front obstacle sensor 311F, a rightobstacle sensor 311R and a left obstacle sensor 311L disposed in thefront portion, on the right side and the left side of the body of thetired-robot apparatus 300 and a microphone 311M disposed in the upperportion of the body.

[0068] A mechanical-system-command converter 113 provided for the CPUportion 301 of the tired-robot apparatus 300 as a software structureconverts a command which is independent from the mechanical system andwhich does not depend on the mechanical system into a command dependingon the mechanical system. Thus, the mechanical-system-command converterissues the following commands right (p) and left (p) to the controlportions 302R and 302L.

[0069] That is, command “standing” which is a command independent fromthe mechanical system is converted into control commands right (0) andleft (0) for interrupting the rotations of the servo motors of the driveportions 303R and 303L. In accordance with the foregoing controlcommands right (0) and left (0), the control portions 302R and 302Linterrupt the servo motors of the drive portions 303R and 303L.Therefore, the tired-robot apparatus 300 is brought to a state ofinterruption in accordance with the command “standing” which is acommand independent from the mechanical system.

[0070] Command “move (parameter angle [deg])” which is a commandindependent from the mechanical system is converted into controlcommands right (r) and left (l) for rotating the servo motors of thedrive portions 303R and 303L in such a manner that the right and leftwheels 304R and 304L are rotated at a rotation ratio of r:l determinedin accordance with angle [deg]. In accordance with the control commandsright (r) and left (l), the control portions 302R and 302L rotate theservo motors of the drive portions 303R and 303L so as to rotate theright and left wheels 304R and 304L at the rotation ratio of r:ldetermined in accordance with angle [deg]. In accordance with thecommand “move (parameter angle [deg]” which is a command independentfrom the mechanical system, the tired-robot apparatus 300 is brought toa state of movement into a direction instructed with angle [deg].

[0071] Command “sleeping” which is a command independent from themechanical system is converted into control commands right (0) and left(0) for interrupting the rotations of the servo motors of the driveportions 303R and 303L. In accordance with the control commands right(0) and left (0), the control portions 302R and 302L interrupt therotations of the servo motors of the drive portions 303R and 303L.Therefore, the tired-robot apparatus 300 is brought to a state ofinterruption in accordance with the command “sleeping” which is acommand independent from the mechanical system.

[0072] Command “hello” which is a command independent from themechanical system is converted into control commands right (−x) and left(+x) for rotating the servo motors of the drive portions 303R and 303Lin such a manner that the right wheel 304R is rotated rearwards threetimes and the left wheel 304L is rotated forwards three times. Inaccordance with the control commands right (−x) and left (+x), thecontrol portions 302R and 302L rotates the servo motors of the driveportions 303R and 303L. Thus, the right wheel 304R is rotated rearwardsthree times and the left wheel 304L is rotated forwards three times.Therefore, the tired-robot apparatus 300 rotates clockwise three timeson the spot and then stops in accordance with the command “hello” whichis a command independent from the mechanical system.

[0073] Command “laughing” which is a command independent from themechanical system is converted into control commands right (0) and left(+x) for interrupting the rotations of the servo motor of the driveportion 303R and rotating the servo motor of the drive portion 303L insuch a manner that the left wheel 304L is rotated forwards three timesin a state in which the right wheel 304R is stopped. In accordance withthe control commands right (0) and left (+x), the control portions 302Rand 302L interrupt the rotation of the servo motor of the drive portion303R and rotates the servo motor of the drive portion 303L. Thus, theleft wheel 304L is forwards rotated three times in the state in whichthe right wheel 304R is stopped. Therefore, the tired-robot apparatus300 performs an operation in accordance with the command “laughing”which is a command independent from the mechanical system in such amanner that the tired-robot apparatus 300 rotates clockwise three timesrelative to the stopped right wheel 304R.

[0074] The control commands right (p) and left (p) which are suppliedfrom the CPU portion 301 to the control portions 302R and 302L indicatethe following facts.

[0075] That is, the control command right (p) causes drive pulses eachhaving a pulse width of p to be transmitted to the servo motor of thedrive portion 303R for rotating the right wheel 304R. If p is a positivevalue, forward rotations are performed. If p is a negative value,rearward rotations are performed.

[0076] The control command left (p) causes drive pulses each having apulse width of p to be transmitted to the servo motor of the driveportion 303L for rotating the left wheel 304L. If p is a positive value,forward rotations are performed. If p is a negative value, rearwardrotations are performed.

[0077] The tired-robot apparatus 300 is permitted to perform thetransition of the attitude to any one of the attitudes corresponding tothe commands “standing”, “move (parameter angle [deg]”, “sleeping”,“hello” and “laughing” which are commands independent from themechanical system. Although the attitude transition for the tired-robotapparatus 300 is not limited particularly, the transition must beperformed through the attitude “standing (right (0) and left (0)), asshown in FIG. 17.

[0078] As described above, the robot apparatus according to the presentinvention has the mechanical-system-command converter for converting acommand independent from the mechanical system into a command dependingon the mechanical system. Thus, an operation corresponding to thecommand independent from the mechanical system can be performed by themechanical system. For example, the mechanical-system-command converterconverts a command independent from the mechanical system into a commanddepending on the mechanical system adaptable to the mechanical systemand formed by an attitude transition string. Thus, the operation of adrive portion of a mechanical system which stands with legs can becontrolled by the control portion. Moreover, themechanical-system-command converter converts a command independent fromthe mechanical system into a command depending on the mechanical systemfor controlling rotations to be adaptable to the mechanical system.Thus, control of the operation of a drive portion of a mechanical systemhaving wheels for permitting self-running can be performed by thecontrol portion.

[0079] That is, the same command is made to correspond to differentoperations among the mechanical systems. Thus, themechanical-system-command converter enables higher-order Software to beused as a source code or a binary level. Therefore, use of software aspart can be enhanced and software in a portion which does not depend onthe mechanical system can be reused. As a result, development ofsoftware can efficiently be performed.

[0080] Therefore, the present invention is able to provide a robotapparatus of various forms having mechanical systems of different typesarranged to use a command, which is independent from a mechanical systemand which does not depend on the mechanical system, and enabled to becontrolled by a common control system and to a control method therefor.Although the invention has been described in its preferred form with acertain degree of particularity, it is understood that the presentdisclosure of the preferred form can be changed in the details ofconstruction and in the combination and arrangement of parts withoutdeparting from the spirit and the scope of the invention as hereinafterclaimed.

What is claimed is:
 1. A robot apparatus comprising: a mechanical systemhaving at least one mechanical portion arranged to be operated by adrive portion; a mechanical-system-command converter arranged to receivea command which is independent from a mechanical system and which doesnot depend on the mechanical system to convert the command independentfrom the mechanical system into a command depending on the mechanicalsystem and adaptable to the mechanical system; and a control portion forcontrolling the operation of the drive portion in accordance with thecommand depending on the mechanical system supplied from saidmechanical-system-command converter.
 2. A robot apparatus according toclaim 1 , wherein said mechanical-system-command converter converts acommand independent from the mechanical system into a command dependingon the mechanical system in the form of an attitude transition stringadapted to the mechanical system.
 3. A robot apparatus according toclaim 2 , further comprising a mechanical system having legs forpermitting self-standing of said robot apparatus, wherein said controlportion follows a command depending on the mechanical systemcorresponding to a command independent from the mechanical systemsupplied from said mechanical-system-command converter and in the formof an attitude transition string to control the operation of the driveportion of the mechanical system.
 4. A robot apparatus according toclaim 1 , wherein said mechanical-system-command converter converts acommand independent from the mechanical system into a command dependingon the mechanical system for controlling rotations adaptable to themechanical system.
 5. A robot apparatus according to claim 4 , furthercomprising a mechanical system which permits self-running of said robotapparatus when wheels are rotated, wherein said control portion followsa command depending on the mechanical system for controlling rotationsto correspond to a command independent from the mechanical systemsupplied from said mechanical-system-command converter to control theoperation of the drive portion of the mechanical system.
 6. A method ofcontrolling a robot apparatus including a mechanical system having atleast one mechanical portion arranged to be operated by a drive portion,said method comprising the steps of: converting a command which isindependent from a mechanical system and which does not depend on themechanical system into a command depending on the mechanical systemadapted to the mechanical system; and controlling the drive portion inaccordance with the command depending on the mechanical system.
 7. Amethod of controlling a robot apparatus according to claim 6 , whereinthe command independent from the mechanical system is converted into acommand depending on the mechanical system and formed into an attitudetransition string adapted to the mechanical system to control the driveportion of the mechanical system.
 8. A method of controlling a robotapparatus according to claim 6 , wherein a command independent from themechanical system is converted into a command depending on themechanical system for controlling rotations to be adaptable to themechanical system so that the operation of a drive portion of amechanical system for permitting self-running when wheels are rotated iscontrolled.